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      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">Conventions and References</span></h1>

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<p class="p_Normal">The External Vehicle Model, as previous explained, must guarantee the same conventions and references of the VI-CarRealTime vehicle model and this section reports all the references used by it.</p>
<p class="p_Normal">The reference frame and coordinates system used in VI-CarRealTime are consistent with the following standard:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>ISO 8855, Road vehicles - Vehicle dynamics and road-holding ability - Vocabulary. 1991</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>SAE Recommended Practice J670f, Vehicle Dynamics Terminology.</p><p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The following figure shows these coordinate systems:</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal" style="text-align: center;"><img alt="crt_gs_img89" width="576" height="432" style="margin:0px auto 0px auto;width:576px;height:432px;border:none" src="crt_gs_img89.png"/></p>
<p class="p_Normal" style="text-align: center;">&nbsp;</p>
<p class="p_Normal" style="text-align: center;">&nbsp;</p>
<p class="p_Normal" style="text-align: left;"><span class="f_ImageCaption" style="font-size: 10pt; font-weight: normal;">All the references of the</span><span class="f_ImageCaption" style="font-size: 10pt;"> </span>VI-CarRealTime are reported below:</p>
<p class="p_Normal" style="text-align: left;">&nbsp;</p>
<p class="p_Normal" style="text-align: left;"><span class="f_ImageCaption" style="font-size: 10pt;">Global Reference Frame</span></p>
<p class="p_Normal" style="text-align: left;"><span class="f_ImageCaption" style="font-size: 10pt; font-weight: normal;">The root body of the tree representing the rigid-body system is the global frame. </span>The body is a Newtonian or inertial frame, which means that it does not accelerate in translation and does not rotate. The global inertial frame of reference, N (N denotes Newtonian), for VI-CarRealTime models has unit vectors <span style="font-family: Arial,Bold; font-weight: bold;">n</span><span style="font-size: 7pt; font-family: Arial,Bold; font-weight: bold; vertical-align: sub;">x</span>, <span style="font-family: Arial,Bold; font-weight: bold;">n</span><span style="font-size: 7pt; font-family: Arial,Bold; font-weight: bold; vertical-align: sub;">y</span>, and <span style="font-family: Arial,Bold; font-weight: bold;">n</span><span style="font-size: 7pt; font-family: Arial,Bold; font-weight: bold; vertical-align: sub;">z</span>, and origin point <span style="font-family: Arial,Bold; font-weight: bold;">N</span><span style="font-size: 7pt; font-family: Arial,Bold; font-weight: bold; vertical-align: sub;">0</span><span style="font-family: Arial,Bold; font-weight: bold;"> </span>as shown in the previous figure.</p>
<p class="p_Normal" style="text-align: left;">&nbsp;</p>
<p class="p_Normal" style="text-align: left;"><span style="font-weight: bold;">Vehicle Reference System</span></p>
<p class="p_Normal" style="text-align: left;">The vehicle model is positioned with respect to the global frame. The origin of the Vehicle Reference System <span style="font-weight: bold;">S</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">0</span> is located at Z=0 of Global Reference Frame and at half front vehicle track.</p>
<p class="p_Normal" style="text-align: left;">The triad is oriented, at design time, as the Global Reference Frame with:</p>
<p class="p_Normal" style="text-align: left;"><span style="font-weight: bold;">- X+ axis pointing forward in the direction of motion;</span></p>
<p class="p_Normal" style="text-align: left;"><span style="font-weight: bold;">- Y+ axis pointing leftward;</span></p>
<p class="p_Normal" style="text-align: left;"><span style="font-weight: bold;">- Z+ axis pointing upward;</span></p>
<p class="p_Normal" style="text-align: left;">&nbsp;</p>
<p class="p_Normal" style="text-align: left;"><span style="font-weight: bold;">Model Animation Frame</span></p>
<p class="p_Normal" style="text-align: left;">The model animation frame is located in (0,0, standard tire ref Z), with a rotation along the <span style="font-weight: bold;">z</span> axis of: <span style="font-weight: bold;">rotz=180°</span>. Thus it corresponds to the Global Reference Frame with <span style="font-weight: bold;">x</span> and <span style="font-weight: bold;">y</span> axis reversed.</p>

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